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Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities...
We present a modified recursive Newton-Euler method for computing some dynamic expressions that arise in two problems of fault detection and control of serial robot manipulators, and which cannot be evaluated numerically using the standard method. The two motivating problems are: i) the computation of the residual vector that allows accurate detection of actuator faults or unexpected collisions using...
In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to...
We present a method that allows automatic reaction of a robot to physical collisions, while preserving as much as possible the execution of a Cartesian task for which the robot is kinematically redundant. The work is motivated by human-robot interaction scenarios, where ensuring safety is of primary concern whereas preserving task performance is an appealing secondary goal. Unexpected collisions may...
In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday environments. The crucial issues needed to tackle the problem of a safe and dependable physical human-robot interaction (pHRI) were addressed in the EURON Perspective Research Project PHRIDOM (Physical Human- Robot Interaction in Anthropic Domains), aimed at charting...
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